No subject


Tue Sep 21 18:39:23 UTC 2010 

/home/robot/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png

but you mentioned you had saved map.png in
/home/robot/src/ros/stacks/simulator_gazebo/gazebo_worlds/Media/materials/t=
extures



possibly double check your parameter "walls" containing walls.model and mak=
e sure the image tag contains only the file name=2C e.g.
<image>fete_nico_mapa.png</image>

and your grayscale map image file is located at


/home/robot/src/ros/stacks/simulator_gazebo/gazebo_worlds/Media/materials/t=
extures/fete_nico_mapa.png

John



2010/11/9 Nicol=E1s Alvarez Picco <nicolasapicco at hotmail.com>







Hi John=2C
Thanks for answering=2C I ve tried with that you suggest me and also with e=
xecuting in a new terminal "convert myfile.pgm myfile.png " but it is still=
 giving this message:

Param [quickStep] is deprecated: [replace quickStep with stepType]


Param [quickStepIters] is deprecated: [replace quickStepIters with stepIter=
s]
Param [quickStepW] is deprecated: [replace quickStepW with stepW]
[ INFO] [1289322971.691105690]: Obtained obstacle map.
Gazebo successfully initialized


Error: [/home/robot/src/ros/stacks/simulator_gazebo/gazebo/build/gazebo-r89=
47/server/rendering/Image.cc:136]
Unable to open image file[/home/robot/src/autnavarc/ros-ana-pkg/wheelchair/=
fete_nico_mapa.png]


/home/robot/src/ros/stacks/simulator_gazebo/gazebo/build/gazebo-r8947/serve=
r/physics/MapShape.cc:117 : Exception: Unable to open image file[/home/robo=
t/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png]

Main simulation loop failed


/home/robot/src/ros/stacks/simulator_gazebo/gazebo/build/gazebo-r8947/serve=
r/physics/MapShape.cc:117 : Exception: Unable to open image file[/home/robo=
t/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png]

Service call failed: transport error completing service call: unable to rec=
eive data from sender=2C check sender's logs for details


spawning success None
[gazebo-2] process has died [pid 3701=2C exit code -11].
log files: /home/robot/.ros/log/0bd3add0-ec25-11df-a9ef-0026b9e75b87/gazebo=
-2*.log


[xml2factor_walls-3] process has finished cleanly.
log file: /home/robot/.ros/log/0bd3add0-ec25-11df-a9ef-0026b9e75b87/xml2fac=
tor_walls-3*.log
[ INFO] [1289322976.775538978=2C 0.958000000]: Server up
[ INFO] [1289322976.777365139=2C 0.958000000]: Spinning now


=20


I saved my map in

 /home/robot/src/ros/stacks/simulator_gazebo/gazebo_worlds/Media/materials/=
textures

Any idea?

Thanks=20

Nicolas


From: johnhsu at willowgarage.com


Date: Tue=2C 9 Nov 2010 07:29:20 -0800
To: ros-users at code.ros.org
Subject: Re: [ros-users] Gazebo - spawn_model

Hi Nicolas=2C



I don't think gazebo can read pgm files.  Try opening your map file in gimp=
=2C save it as a grayscale .png file.  Place the file in a package that exp=
orts its prefix to gazebo_media_path (for example take a look at manifest.x=
ml for gazebo_worlds)=2C under a subdirectory [package_name]/Media/material=
s/texture/walls.png.





Then try your spawn again.  Note that if the map is complicated=2C it might=
 take gazebo's recursive rectangle wall builder more than 30 sec. to constr=
uct the model.

John





2010/11/9 Nicol=E1s Alvarez Picco <nicolasapicco at hotmail.com>







Hi Everybody!!!

I have made a map with gmapping=2C it is a file 'map.pgm'. Now I want to sp=
awn its walls=2C for that I am using this launch file:

<launch>

  <arg name=3D"scenario"/>




  <arg name=3D"no_window"/>
  <!-- start gazebo with an empty plane -->
  <param name=3D"/use_sim_time" value=3D"true" />

  <!-- if no window is set then start with -r (no window displayed) -->




  <node name=3D"gazebo" pkg=3D"gazebo" type=3D"gazebo" args=3D"-r $(find ha=
n_Scene)/worlds/empty.world" respawn=3D"false" output=3D"screen" if=3D"$(ar=
g no_window)"/>




 =20
  <!-- Otherwise start normally -->
  <node name=3D"gazebo" pkg=3D"gazebo" type=3D"gazebo" args=3D"$(find han_S=
cene)/worlds/empty.world" respawn=3D"false" output=3D"screen" unless=3D"$(a=
rg no_window)"/>




 =20
  <!-- walls-->
  <param name=3D"walls" textfile=3D"$(find han_Scene)/scenarios/$(arg scena=
rio)/walls.model" />

  <node name=3D"xml2factor_walls" pkg=3D"gazebo" type=3D"spawn_model" args=
=3D"-gazebo -param walls -model walls" respawn=3D"false" output=3D"screen" =
/>





  <!-- <node name=3D"xml2factor_walls" pkg=3D"gazebo" type=3D"spawn_model" =
args=3D"-gazebo -param walls -x -16 -y -16 -model walls" respawn=3D"false" =
output=3D"screen" /> -->





</launch>

Where the file walls.model is=20

<?xml version=3D"1.0" ?>
<model:physical name=3D"walls_model"
  xmlns:model=3D"http://playerstage.sourceforge.net/gazebo/xmlschema/#model=
"=20




  xmlns:body=3D"http://playerstage.sourceforge.net/gazebo/xmlschema/#body"=
=20
  xmlns:geom=3D"http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" =
>





  <static>true</static>
  <body:map name=3D"walls_body">
    <xyz>-8 -8 0 </xyz>
    <geom:map name=3D"walls_geom">
      <image>map.pgm</image> <!-- for now this is in the gazebo model dir=
=2C change later-->




      <height>2</height>
      <threshold>200</threshold>
      <granularity>1</granularity>
      <negative>false</negative>
      <scale>0.04</scale>




      <offset>0 0 0</offset>
      <material>Gazebo/Rocky</material>
    </geom:map>
  </body:map>
</model:physical>

The thing is that nothing happens in gazebo.=20




Any clue?? Does exist any documentation about how to spawn walls of a map??

Many thanks

Nicolas
 		 	   		 =20

_______________________________________________

ros-users mailing list

ros-users at code.ros.org

https://code.ros.org/mailman/listinfo/ros-users





_______________________________________________
ros-users mailing list
ros-users at code.ros.org
https://code.ros.org/mailman/listinfo/ros-users 		 	   		 =20

_______________________________________________

ros-users mailing list

ros-users at code.ros.org

https://code.ros.org/mailman/listinfo/ros-users





_______________________________________________
ros-users mailing list
ros-users at code.ros.org
https://code.ros.org/mailman/listinfo/ros-users 		 	   		  =

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</head>
<body class=3D'hmmessage'>
John=2C <br>There are not problems with the location of the files=2C when I=
 said map.png it was just to name the map with a generic name. <br>The thin=
g is I can't make the gazebo work with that map. The map is the result of r=
unning the gmapping node=2C so it doesn't have the borders so delemetated=
=2C here I attach the file png file.<br>Any idea?? Do you think I am having=
 this problem because the map is very big??<br><br>Thanks!!!<br><br>Nicolas=
<br><br><br><br><hr id=3D"stopSpelling">From: johnhsu at willowgarage.com<br>D=
ate: Tue=2C 9 Nov 2010 17:46:11 -0800<br>To: ros-users at code.ros.org<br>Subj=
ect: Re: [ros-users] Gazebo - spawn_model<br><br>Nicol=E1s=2C<br><br>From y=
our console output it looks like gazebo is looking for a file <br>/home/rob=
ot/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png<br><div><br>but =
you mentioned you had saved map.png in<br></div>/home/robot/src/ros/stacks/=
simulator_gazebo/gazebo_worlds/Media/materials/textures<br>

<div><br>possibly double check your parameter "walls" containing walls.mode=
l and make sure the image tag contains only the file name=2C e.g.<br>&lt=3B=
image&gt=3Bfete_nico_mapa.png&lt=3B/image&gt=3B<br><br>and your grayscale m=
ap image file is located at<br>

/home/robot/src/ros/stacks/simulator_gazebo/gazebo_worlds/Media/materials/t=
extures/fete_nico_mapa.png<br><br>John<br><br></div><br><br><div class=3D"e=
cxgmail_quote">2010/11/9 Nicol=E1s Alvarez Picco <span dir=3D"ltr">&lt=3B<a=
 href=3D"mailto:nicolasapicco at hotmail.com">nicolasapicco at hotmail.com</a>&gt=
=3B</span><br>

<blockquote class=3D"ecxgmail_quote" style=3D"padding-left: 1ex=3B">



<div>
Hi John=2C<br>Thanks for answering=2C I ve tried with that you suggest me a=
nd also with executing in a new terminal "convert myfile.pgm myfile.png " b=
ut it is still giving this message:<br><br>Param [quickStep] is deprecated:=
 [replace quickStep with stepType]<br>

Param [quickStepIters] is deprecated: [replace quickStepIters with stepIter=
s]<br>Param [quickStepW] is deprecated: [replace quickStepW with stepW]<br>=
[ INFO] [1289322971.691105690]: Obtained obstacle map.<br>Gazebo successful=
ly initialized<br>

<font color=3D"#ff0000">Error: [/home/robot/src/ros/stacks/simulator_gazebo=
/gazebo/build/gazebo-r8947/server/rendering/Image.cc:136]</font><br>Unable =
to open image file[/home/robot/src/autnavarc/ros-ana-pkg/wheelchair/fete_ni=
co_mapa.png]<br>

/home/robot/src/ros/stacks/simulator_gazebo/gazebo/build/gazebo-r8947/serve=
r/physics/MapShape.cc:117 : Exception: Unable to open image file[/home/robo=
t/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png]<br><br>Main simu=
lation loop failed<br>

/home/robot/src/ros/stacks/simulator_gazebo/gazebo/build/gazebo-r8947/serve=
r/physics/MapShape.cc:117 : Exception: Unable to open image file[/home/robo=
t/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png]<br><br>Service c=
all failed: transport error completing service call: unable to receive data=
 from sender=2C check sender's logs for details<br>

spawning success None<br><font color=3D"#ff0000">[gazebo-2] process has die=
d [pid 3701=2C exit code -11].</font><font color=3D"#ff0000"><br></font><fo=
nt color=3D"#ff0000">log files: /home/robot/.ros/log/0bd3add0-ec25-11df-a9e=
f-0026b9e75b87/gazebo-2*.log</font><br>

[xml2factor_walls-3] process has finished cleanly.<br>log file: /home/robot=
/.ros/log/0bd3add0-ec25-11df-a9ef-0026b9e75b87/xml2factor_walls-3*.log<br>[=
 INFO] [1289322976.775538978=2C 0.958000000]: Server up<br>[ INFO] [1289322=
976.777365139=2C 0.958000000]: Spinning now<br>

&nbsp=3B<br><br><br>I saved my map in<br><br>&nbsp=3B/home/robot/src/ros/st=
acks/simulator_gazebo/gazebo_worlds/Media/materials/textures<br><br>Any ide=
a?<br><br>Thanks <br><br>Nicolas<br><br><br><hr>From: <a href=3D"mailto:joh=
nhsu at willowgarage.com">johnhsu at willowgarage.com</a><br>

Date: Tue=2C 9 Nov 2010 07:29:20 -0800<br>To: <a href=3D"mailto:ros-users at c=
ode.ros.org">ros-users at code.ros.org</a><br>Subject: Re: [ros-users] Gazebo =
- spawn_model<div><div></div><div class=3D"h5"><br><br>Hi Nicolas=2C<br>

<br>I don't think gazebo can read pgm files.&nbsp=3B Try opening your map f=
ile in gimp=2C save it as a grayscale .png file.&nbsp=3B Place the file in =
a package that exports its prefix to gazebo_media_path (for example take a =
look at manifest.xml for gazebo_worlds)=2C under a subdirectory [package_na=
me]/Media/materials/texture/walls.png.<br>



<br>Then try your spawn again.&nbsp=3B Note that if the map is complicated=
=2C it might take gazebo's recursive rectangle wall builder more than 30 se=
c. to construct the model.<br><br>John<br><br><br><br><div>

2010/11/9 Nicol=E1s Alvarez Picco <span dir=3D"ltr">&lt=3B<a href=3D"mailto=
:nicolasapicco at hotmail.com">nicolasapicco at hotmail.com</a>&gt=3B</span><br><=
blockquote style=3D"padding-left: 1ex=3B">





<div>
Hi Everybody!!!<br><br>I have made a map with gmapping=2C it is a file 'map=
.pgm'. Now I want to spawn its walls=2C for that I am using this launch fil=
e:<br><br>&lt=3Blaunch&gt=3B<br><br>&nbsp=3B &lt=3Barg name=3D"scenario"/&g=
t=3B<br>



&nbsp=3B &lt=3Barg name=3D"no_window"/&gt=3B<br>&nbsp=3B &lt=3B!-- start ga=
zebo with an empty plane --&gt=3B<br>&nbsp=3B &lt=3Bparam name=3D"/use_sim_=
time" value=3D"true" /&gt=3B<br><br>&nbsp=3B &lt=3B!-- if no window is set =
then start with -r (no window displayed) --&gt=3B<br>



&nbsp=3B &lt=3Bnode name=3D"gazebo" pkg=3D"gazebo" type=3D"gazebo" args=3D"=
-r $(find han_Scene)/worlds/empty.world" respawn=3D"false" output=3D"screen=
" if=3D"$(arg no_window)"/&gt=3B<br>



&nbsp=3B <br>&nbsp=3B &lt=3B!-- Otherwise start normally --&gt=3B<br>&nbsp=
=3B &lt=3Bnode name=3D"gazebo" pkg=3D"gazebo" type=3D"gazebo" args=3D"$(fin=
d han_Scene)/worlds/empty.world" respawn=3D"false" output=3D"screen" unless=
=3D"$(arg no_window)"/&gt=3B<br>



&nbsp=3B <br>&nbsp=3B &lt=3B!-- walls--&gt=3B<br>&nbsp=3B &lt=3Bparam name=
=3D"walls" textfile=3D"$(find han_Scene)/scenarios/$(arg scenario)/walls.mo=
del" /&gt=3B<br><br>&nbsp=3B &lt=3Bnode name=3D"xml2factor_walls" pkg=3D"ga=
zebo" type=3D"spawn_model" args=3D"-gazebo -param walls -model walls" respa=
wn=3D"false" output=3D"screen" /&gt=3B<br>



<br>&nbsp=3B &lt=3B!-- &lt=3Bnode name=3D"xml2factor_walls" pkg=3D"gazebo" =
type=3D"spawn_model" args=3D"-gazebo -param walls -x -16 -y -16 -model wall=
s" respawn=3D"false" output=3D"screen" /&gt=3B --&gt=3B<br>



<br>&lt=3B/launch&gt=3B<br><br>Where the file walls.model is <br><br>&lt=3B=
?xml version=3D"1.0" ?&gt=3B<br>&lt=3Bmodel:physical name=3D"walls_model"<b=
r>&nbsp=3B xmlns:model=3D"<a href=3D"http://playerstage.sourceforge.net/gaz=
ebo/xmlschema/#model" target=3D"_blank">http://playerstage.sourceforge.net/=
gazebo/xmlschema/#model</a>" <br>



&nbsp=3B xmlns:body=3D"<a href=3D"http://playerstage.sourceforge.net/gazebo=
/xmlschema/#body" target=3D"_blank">http://playerstage.sourceforge.net/gaze=
bo/xmlschema/#body</a>" <br>&nbsp=3B xmlns:geom=3D"<a href=3D"http://player=
stage.sourceforge.net/gazebo/xmlschema/#geom" target=3D"_blank">http://play=
erstage.sourceforge.net/gazebo/xmlschema/#geom</a>" &gt=3B<br>



<br>&nbsp=3B &lt=3Bstatic&gt=3Btrue&lt=3B/static&gt=3B<br>&nbsp=3B &lt=3Bbo=
dy:map name=3D"walls_body"&gt=3B<br>&nbsp=3B&nbsp=3B&nbsp=3B &lt=3Bxyz&gt=
=3B-8 -8 0 &lt=3B/xyz&gt=3B<br>&nbsp=3B&nbsp=3B&nbsp=3B &lt=3Bgeom:map name=
=3D"walls_geom"&gt=3B<br>&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B &lt=3Bima=
ge&gt=3Bmap.pgm&lt=3B/image&gt=3B &lt=3B!-- for now this is in the gazebo m=
odel dir=2C change later--&gt=3B<br>



&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B &lt=3Bheight&gt=3B2&lt=3B/height&g=
t=3B<br>&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B &lt=3Bthreshold&gt=3B200&l=
t=3B/threshold&gt=3B<br>&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B &lt=3Bgran=
ularity&gt=3B1&lt=3B/granularity&gt=3B<br>&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B&=
nbsp=3B &lt=3Bnegative&gt=3Bfalse&lt=3B/negative&gt=3B<br>&nbsp=3B&nbsp=3B&=
nbsp=3B&nbsp=3B&nbsp=3B &lt=3Bscale&gt=3B0.04&lt=3B/scale&gt=3B<br>



&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B &lt=3Boffset&gt=3B0 0 0&lt=3B/offs=
et&gt=3B<br>&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B&nbsp=3B &lt=3Bmaterial&gt=3BGa=
zebo/Rocky&lt=3B/material&gt=3B<br>&nbsp=3B&nbsp=3B&nbsp=3B &lt=3B/geom:map=
&gt=3B<br>&nbsp=3B &lt=3B/body:map&gt=3B<br>&lt=3B/model:physical&gt=3B<br>=
<br>The thing is that nothing happens in gazebo. <br>



Any clue?? Does exist any documentation about how to spawn walls of a map??=
<br><br>Many thanks<br><br>Nicolas<br> 		 	   		  </div>
<br>_______________________________________________<br>
ros-users mailing list<br>
<a href=3D"mailto:ros-users at code.ros.org">ros-users at code.ros.org</a><br>
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